pf_vector.h
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00001 /*
00002  *  Player - One Hell of a Robot Server
00003  *  Copyright (C) 2000  Brian Gerkey   &  Kasper Stoy
00004  *                      gerkey@usc.edu    kaspers@robotics.usc.edu
00005  *
00006  *  This library is free software; you can redistribute it and/or
00007  *  modify it under the terms of the GNU Lesser General Public
00008  *  License as published by the Free Software Foundation; either
00009  *  version 2.1 of the License, or (at your option) any later version.
00010  *
00011  *  This library is distributed in the hope that it will be useful,
00012  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00014  *  Lesser General Public License for more details.
00015  *
00016  *  You should have received a copy of the GNU Lesser General Public
00017  *  License along with this library; if not, write to the Free Software
00018  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  *
00020  */
00021 /**************************************************************************
00022  * Desc: Vector functions
00023  * Author: Andrew Howard
00024  * Date: 10 Dec 2002
00025  * CVS: $Id: pf_vector.h 6345 2008-04-17 01:36:39Z gerkey $
00026  *************************************************************************/
00027 
00028 #ifndef PF_VECTOR_H
00029 #define PF_VECTOR_H
00030 
00031 #ifdef __cplusplus
00032 extern "C" {
00033 #endif
00034 
00035 #include <stdio.h>
00036   
00037 // The basic vector
00038 typedef struct
00039 {
00040   double v[3];
00041 } pf_vector_t;
00042 
00043 
00044 // The basic matrix
00045 typedef struct
00046 {
00047   double m[3][3];
00048 } pf_matrix_t;
00049 
00050 
00051 // Return a zero vector
00052 pf_vector_t pf_vector_zero();
00053 
00054 // Check for NAN or INF in any component
00055 int pf_vector_finite(pf_vector_t a);
00056 
00057 // Print a vector
00058 void pf_vector_fprintf(pf_vector_t s, FILE *file, const char *fmt);
00059 
00060 // Simple vector addition
00061 pf_vector_t pf_vector_add(pf_vector_t a, pf_vector_t b);
00062 
00063 // Simple vector subtraction
00064 pf_vector_t pf_vector_sub(pf_vector_t a, pf_vector_t b);
00065 
00066 // Transform from local to global coords (a + b)
00067 pf_vector_t pf_vector_coord_add(pf_vector_t a, pf_vector_t b);
00068 
00069 // Transform from global to local coords (a - b)
00070 pf_vector_t pf_vector_coord_sub(pf_vector_t a, pf_vector_t b);
00071 
00072 
00073 // Return a zero matrix
00074 pf_matrix_t pf_matrix_zero();
00075 
00076 // Check for NAN or INF in any component
00077 int pf_matrix_finite(pf_matrix_t a);
00078 
00079 // Print a matrix
00080 void pf_matrix_fprintf(pf_matrix_t s, FILE *file, const char *fmt);
00081 
00082 // Compute the matrix inverse.  Will also return the determinant,
00083 // which should be checked for underflow (indicated singular matrix).
00084 //pf_matrix_t pf_matrix_inverse(pf_matrix_t a, double *det);
00085 
00086 // Decompose a covariance matrix [a] into a rotation matrix [r] and a
00087 // diagonal matrix [d] such that a = r * d * r^T.
00088 void pf_matrix_unitary(pf_matrix_t *r, pf_matrix_t *d, pf_matrix_t a);
00089 
00090 #ifdef __cplusplus
00091 }
00092 #endif
00093 
00094 #endif


amcl
Author(s): Brian P. Gerkey, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:46:02